The reason that the service manual states not to use ATF is due to its lower boiling point, and lower resistance to foaming. Later formulations are more resistant to foaming, and the DEX-III standard was the improvement over the DEX-II fluid that existed when the manual was first produced. ATF will work, but has still a lower resistance to foaming than actual power steering fluid does. Why I mention caster is because it WILL impact yor ability to turn the wheels, under all conditions, whether you are moving or not, or running or not.